DocumentCode
397810
Title
Control of the kinematic car using trajectory generation and the high order sliding mode control
Author
Benalia, A. ; Djemai, M. ; Barbot, J-P.
Author_Institution
Equip. Commande des Syst., ENSEA, Cergy-Pontoise, France
Volume
3
fYear
2003
fDate
5-8 Oct. 2003
Firstpage
2455
Abstract
In this paper we illustrate how to use the advantage of the differential flatness and the high order sliding mode control to deal with the problem of the trajectory planning and robust tracking of a car like robot.
Keywords
closed loop systems; compensation; control system synthesis; feedback; mobile robots; nonlinear control systems; path planning; stability; tracking; variable structure systems; car like robot; closed loop systems; compensation; control system synthesis; differential flatness; feedback; kinematic car control; nonlinear control systems; path planning; robust tracking; sliding mode control; stability; trajectory generation; trajectory planning; Feedback; Kinematics; Mobile robots; Motion planning; Nonlinear systems; Robust control; Sliding mode control; Tracking; Vehicle dynamics; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 2003. IEEE International Conference on
ISSN
1062-922X
Print_ISBN
0-7803-7952-7
Type
conf
DOI
10.1109/ICSMC.2003.1244252
Filename
1244252
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